A DYNAMIC STUDY OF AN ELECTRO-RHEOLOGICAL (ER) CLUTCH

摘要

Electro-rheological (ER) fluid devices are smart actuators that possess several advantages such as controllable output dynamics and fast speed of response. Due to these output capabilities, an ER clutch is studied for the possibility of actuating the robotic arm. This is achieved by laying a few objectives. The main focus of this paper is to perform model validations of an ER velocity response of this ER clutch. Next, it is aimed to determine a method for rapid energization and de-energization of the ER output velocity for delivering fast start-stop robotic motions. The third aim is to employ the trend study on the ER output velocity response in order to define suitable input parameters for optimum ER robotic performances. The final aim is to determine the reliability of the tested ER fluids shearing in the ER clutch for long-term robotic applications.